JPS60150936A - Calling for tool in automatic tool exchanger - Google Patents

Abstract

PURPOSE:To call a suitable tool by storing the tool data including each order of use in the preceding time and the present time and preparing the using procedure and controlling each tool, thus synthetically managing a main magazine and a submagazine. CONSTITUTION:When a called tool is of the first use, three memory order data are cleared, and then the tool calling for a main spindle is performed, and it is judged that the pertinent tool is in a main magazine 2 or a submagazine 3. When the tool is found in the main memory, the pot 21 is indexed to the first tool exchange position, and tool exchange and memory exchange are performed by an arm 12. The procedure for adding by +1 at each time when exchange is performed is prepared, and the numerical value is written as the order in this time into the pertinent data of the main-spindle position tool memory, and the tool in the main flow is called to obtain the tool to be used next. When the tool number can not be found in the main magazine 2 nor in the submagazine 3, an alarm is generated, and when the tool is found in the submagazine 3, the pertinent tool is transferred to the main magazine.

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a tool calling method for an automatic tool changer,
In particular, the present invention relates to a tool calling method for an automatic tool changer that is equipped with one removable sub-magazine in addition to the permanent main magazine that supplies tools to the spindle head, and is capable of replenishing tools according to the program. .

Conventional automatic tool changers (ATC devices) generally do not use many tools for one workpiece.
Detection of workpieces is limited, and the number of pots in the magazine that supplies tools to the head does not need to be large, and the method of calling tools is simply specifying the pot number on the program.
It relied primarily on humans to supply tools to each bot. However, as factory automation progresses,
Current numerical control equipment (NC equipment) is a flexible manufacturing system (1!'
-M@S) era. automatic tool changer,
In addition to the permanently installed main magazine, one removable sub-magazine is being installed to replenish tools according to the program. This method is not only inconvenient as it requires manpower and time, but also cannot automate replenishment from the sub-magazine. What's more, as the tool boy system, in which the sub-magazine itself is equipped with wheels and runs around the factory and automatically replenishes the tools required by the machining center's program, becomes commonplace, it is possible to search for the necessary tool by tool number, and even more easily. The automatic tool changer itself selects tools based on factors such as frequency of use, priority, and tool deterioration, and the ability to operate in conjunction with the submagazine, or tool data, has become essential.

The present invention has been made in view of the above circumstances, and its purpose is to provide control for individual tools in an automatic tool changer in which a sub-magazine is removably installed in addition to a permanently installed main magazine. The main magazine and sub-magazines are managed comprehensively, and the frequency of use, priority, degree of deterioration, etc. of tools are rationally considered, and tools that are suitable for the program being implemented are prioritized over the main magazine. It is an object of the present invention to provide a tool calling method that is automatically and automatically edited.

In order to achieve this object, the present invention has a main spindle position tool memory that stores tool data at the main spindle position, a main magazine tool memory that stores tool data for each pot in the main magazine, and a main magazine tool memory that stores tool data for each pot in the sub magazine. A submagazine tool memory is provided to store tool data, and each of the tool data includes the tool number of the tool stored in the corresponding position, current use order data and previous use order data of the tool, and the NC program a tool search means for searching for a tool number to be recalled in the order of the sub magazine following the main magazine; and a tool data exchange means for transferring and exchanging the tool data in the corresponding tool memory using a signal linked to the tool exchange operation of each exchange arm. , Transfer to the gear axis position tool memory and transfer the currently used ranking data to the exchanged tool data each time (9) A currently used ranking assigning means that transfers the currently used ranking data to the previously used ranking data each time the NC program is repeated. The NC system is equipped with a usage ranking assigning means and a tool demotion selection means for selecting tools to be demoted from the main magazine to the sub magazine based on the results of searching the usage ranking data.
The feature is that tools necessary for machining are automatically edited into the main magazine by duplication of exchange operations based on a program.

Hereinafter, the present invention will be explained in detail with reference to examples and drawings.

FIG. 1 is a side view showing an example of an automatic tool changer suitable for implementing the present invention. 1 is the main body of the machine tool, 2
3 is a main magazine, 3 is a sub-magazine, and the main body 1 is equipped with a spindle head 11. The main magazine 2 is permanently installed in the main body 1, and has a predetermined number of tool storage bots 21 mounted on a track-shaped support, and the bots 21 and the head when indexed to the tool exchange position are mounted on the main magazine 2. 11 main shaft 11a, tools are exchanged via the first arm 12. On the other hand, the sub-magazine 3 is transported on a track between machines, changes direction on a turn floor 5, etc., and is attached to and detached from the main body part that is in contact with the main magazine 2. Tools are exchanged at a tool exchange position via the second arm 22 between the bot 31 mounted on a support that is symmetrically loaded and the bot 25 of the main magazine.

Figure 2 is an explanatory diagram showing the above-mentioned tool exchange positions.

In the second example, the bot 21 is mounted on the support body 23 of the main magazine 2.

At a first tool exchange position PI facing the head 11, tools can be exchanged with the main shaft 11a via the first arm 12, and at a second tool exchange position ttP corresponding to the sub-magazine, the second arm 22
Tools can be exchanged between the bot 31 located at the third tool exchange position P on the support 33 of the sub-magazine 3 and the bot 25 mounted on the support 23 of the main magazine 2 via. . Each magazine is equipped with position detectors 24 and 34 in contact with the support, so that it is always ascertained what number of bots are being indexed and the number of bots in each side exit position.

Of course, these tool exchange operations are performed under the control of the central processing unit based on the NC program.

Figure t43 is a schematic configuration diagram showing the above control mechanism implementing the present invention. In FIG. 3, the control mechanism is structured around a central processing unit (CPU) 4, and a ROM 42.1 (...
AM43, input interface 44, (main magazine position detection signal LS, sub magazine position detection signal LS,
, and N/C commands such as 'r code. ),
An output interface 45 (outputs to the solenoid pulp 8ol 1.Sol of the main magazine and submagazine, etc.), a spindle position tool memory 46, a main magazine tool memory 47, and a submagazine tool memory 48 are connected. In addition to this, keyboard 49
When connected, a dedicated connection path 49a is used.

Furthermore, Aft HF2 three memories 46, 47 and 4
8 may each be a dedicated IC memory (the above H
, AM43 may be provided as part of the area.

The contents of the three memories are the tool number of the tool at the corresponding position KL and the current and previous use order data of the tool.

The spindle position tool memory 46 stores the tool number of the tool installed on the spindle at that time and the 111th use data in association with each other, such as No. 1 &.

The first clothing main magazine tool memory 47 stores the tool number and usage order data of the tools stored in each bot of the main magazine at that time for each bot as shown in Table 2.

v 2 Tatsun is the predetermined number of bots that is the fixed amount of the main magazine.

The sub-magazine tool memory 48 stores the tool number and use order data of the tools stored in each bot of the sub-magazine at that time for each pot as shown in Table 3.

Table 3, n, shows the number of 91-pair pots that are considered to be standard packaging for Hasab Magazine.

Note that the 11th used data is obtained by convolving the numerical values 1, 2, 3, etc. in the order of use for one work, and is 0 if it is not used.

When a tool is replaced at each pre-tool replacement IP in Fig. 2, the above-mentioned memories are replaced as follows in conjunction with the operation of the arm.

First, when exchanging the tool at the spindle position with the tool at k P + before the first tool exchange on the main magazine, a signal activated by the operation of the first arm 12 causes the spindle position tool memory, that is, the address SPO and the memory corresponding to the pot indexed to the first tool change position P1, for example, if it is pot A3, the data stored at address MP3 (tool number, current rank, previous rank) ) and exchange.

When exchanging tools in the main magazine and tools in the sub-magazine, the process is as follows.

For example, before the second tool change on the main magazine t P
Suppose that the pot indexed at t is Botmu 2, and the empty pot indexed at the third tool change position P3 on the sub-magazine is Potmu n! , the signal activated by the operation of the second arm 22 causes the address MP
The data stored at address MP2 is transferred to address SPn, and then the data at address MP2 is emptied. Next, the pot containing the tool to be transferred from the sub to the main is found by the calling method described later, the support 33 of the sub magazine is loaded, and the pot is indexed before the third tool exchange. If the pot is, for example, Bon) 41, the data at address SPI is transferred to address MP2 by the operation signal of second arm 22, which transfers the tool to pot plate 2 of the main magazine which was previously emptied, and then The memory exchange is completed by emptying the data at the address SPI.

In this embodiment, the second arm 22 has been described as using a single arm, but if a twin arm is used, memory exchange between magazines is performed in the same manner as memory exchange with the main shaft. It turns out.

Now, using the memory and its exchange scheme described above, tool recall according to the invention is performed as follows.

Figures 4-1 and 5 are flowcharts showing an example of the tool calling method according to the present invention, where Figure 4 shows the first flow after the power is turned on, and Figure 5 shows the flow from the second time onwards. This shows that.

In the car 4 diagram, after the power source "person", start the program, and if it is confirmed that it is the "first time", all the ranking data in the three memories mentioned above will be cleared and become "O" as step 1. .

Next, the spindle tool is called (2), and it is determined whether the tool is in the main magazine or the submagazine (2) and (3). Search is done by tool number,
If it is found in the memory of the main magazine, replace the pot with the first tool! Index to (pl of group 2 diagram)■
.

The first arm 12 performs the tool exchange and memory exchange (2). At that time, prepare a procedure (■) in which the numerical value is incremented by +1 each time this exchange is performed, and declare the numerical value (■) to the corresponding data in the spindle position tool memory as the current ranking. Then, this flow collects the next tool to be used and returns to tool call (2) of the main flow. On the other hand, when the tool is called (■), if the corresponding tool number cannot be found in the main magazine search (■) and cannot be found in the submagazine (■), this means that the required tool is not found anywhere, and a ``''alarm'' occurs. Of course, this alarm signal is the second, third, and third alarm signal.
It may be used as a start signal to call up the submagazine. On the other hand, if the corresponding tool number is found in the memory of the submagazine, the procedure for moving the tool to the main magazine begins. Masu.

Consider whether there is an empty pot in the main magazine.
is performed, and if there is an empty pot, you can proceed to the operation [phase] of moving the corresponding tool to the empty pot, but if it is full,
Search for 00 points this time. Normally, the required number of tools used in one program is less than the fixed number n of the main magazine, so there should be a tool ranked 00 this time for the first time, but if you find one, If this is not possible, it means that all the tools in the main magazine are already required by the program, and 1 alarm is generated as the number of tools is exceeded. If a tool with a rank of 00 is found this time, there is no problem; the tool is demoted to an empty pot in the submagazine, an empty pot is created in the main magazine, and the procedure [phase] of moving the corresponding tool to the empty pot is the second step. After performing the tool exchange and memory exchange associated with it as shown in the figure, the flow returns to step (2) for loading the pot of the corresponding tool to the tool exchange position of step 1.

Now, in some factories, there are cases where multiple pieces of the same type of workpiece are repeatedly machined using one program. You will follow the flow shown. "First time"
If it is determined that this is not the case, step 0 is taken in which the current ranking data in all memories is first transferred to the previous ranking column, and then the current ranking column is cleared. Next, the same tool call helicopter as the first time is used, and if the corresponding tool number is found in the main magazine, the flow is C, and if it is not found in any magazine, the flow is the same as that described in the first flow. , is. If the corresponding tool number is found in the main magazine (or 0 if found in the sub-magazine),
In order to move the tool to the main magazine, it is the same as performing an inspection to find a pregnant bot in the main magazine, but if the main magazine is full, the method of selecting the tool to be demoted to the sub magazine is the same as in the first case. This is also an important feature of the present invention, which is the use of usage ranking data. First, search for current 1gl ranking and previous ranking [phase]
If this is done and a pot with both rankings O is found in the memory of the main magazine, that tool is presumed to be unnecessary for the current program, so the tool is demoted to the submagazine. The problem is that if such a tool is not found, this is the second time or later, so the front ranking may have been given to the tool data of all pots, and the alarm for over-number is inappropriate. Therefore, the flow according to the present invention further searches for a tool whose current ranking is O, and which has already been placed on standby one eyelid below the previous ranking of that tool. If such a tool is discovered, it will be replaced by another tool even though it was used last time, and will not be used this time, for example, if there are two identical tools. This is because it indicates cases in which the product has been replaced due to deterioration discovered during the process. Normally, N.C.
The program often includes a subroutine that replaces the tool from the head when deterioration of the tool is detected during the process.1 The above procedure according to the present invention further demotes such a tool to the submagazine. By the way, if the applicable tool data is not found even after completing the above search, a 6 alarm will be issued.If the applicable data is found, the subsequent flow will be the same as the first time. Similarly, load the pot to the tool change position 42 and judge whether there is an empty pot in the sub magazine [phase]
, move the demotion tool to the empty pot, and proceed to the step [phase] of moving the required tool to the empty pot after the transfer. After that, return to the head replacement procedure ■, and when processing is complete,
Return to Calling the Tool ■ and change the tool again (.

As explained above, the present invention stores tool data including a tool number and the order of use this time and 1rlJ times in three memories, and various methods for using the tool data.
11 has been established to enable control of individual tools and perform comprehensive management of both the main magazine and sub-magazine, as well as to monitor the frequency of use, priority, and degree of deterioration of tools each time the program is repeated. We have created an extremely advanced tool calling method suitable for F/MφS, in which tools that are suitable for the program are preferentially left in the main magazine and automatically edited. This is what we provide.

Furthermore, as an application example of the present invention, it is clear that more advanced control can be achieved by giving the tool numbers in the tool data a file character, such as grouping approximate types of tools with consecutive numbers. be. In addition, although the above-mentioned embodiment describes the case where the present invention is applied to a machining center, the present invention is not limited to machining centers, but can be applied to all numerically controlled machine tools in which an operator commands a machine to perform machining. Of course.

[Brief explanation of drawings]

Fig. 1 is a side view of an example of an automatic tool changer, Fig. 2 is an explanatory diagram thereof, Fig. 3 is a block diagram of a control mechanism implementing the present invention, and Figs. 4 and 5 are tool calling according to the present invention. 2 is a flowchart of an example method. 1...Main body 2...Main magazine 3...Sub magazine 11...Head 21.31...Bon) 1
2.22... Exchange arm P, , P, , P3... Tool exchange position 46...
・Spindle position tool memory 47...Main magazine tool memory 48...Sub magazine tool memory

Claims (1)

[Claims] It is equipped with a permanently installed main magazine that supplies tools to the spindle of the spindle head based on the NC program of the workpiece, and a sub-magazine that supplies spare tools to the main magazine. In the tool calling method of an automatic tool changer, the tool is exchanged between one of the pots of the main magazine and one of the pots of the sub-magazine by a second exchange arm. , a spindle position tool memory that stores tool data at the spindle position, a main magazine tool memory that stores tool data for each pot in the main magazine, and a sub magazine tool memory that stores tool data for each pot in the sub magazine. Each tool data shall include the tool number of the tool stored in the corresponding position, current use order data and previous use order data of the tool, and the tool number to be called by the NC program shall be determined by the tool number of the sub magazine following the main magazine. A tool search means for searching by Peng, a tool data exchange means for transferring and exchanging tool data in the corresponding tool memory using signals linked to the tool exchange operation of each exchange arm, and tools transferred and exchanged to the spindle position tool memory. A currently used ranking assigning means for assigning currently used ranking data to the data each time, a previously used ranking assigning means that transfers the currently used ranking data J' to the previously used ranking data each time the NC program is repeated, and a search for these usage ranking data. The machine is equipped with a tool demotion selection means for selecting tools to be demoted from the main magazine to the sub magazine based on the results of the process, and the tools necessary for machining are automatically edited into the main magazine by duplication of exchange operations based on the NC program. A tool calling method for an automatic tool changer.